Methods and systems for locating a golf ball

ABSTRACT

A method for locating a golf ball including changing a temperature of a golf ball from a first temperature to a second temperature before use or marking the ball by reflective (mirror) or fluorescent material (e.g., NIR-IR fluorescent dye). The temperature changed ball is struck. Using either a thermal imaging camera with an imaging processing unit or a near-infrared (NIR) imaging camera with an imaging processing unit to produce a digital image of a part of the golf course with a potential golf ball location. An image processing technique is applied to produce an enhanced image of the golf ball location. A thermal imaging camera and a NIR imaging camera for locating a golf ball are described. A non-transitory computer readable media is described.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional PatentApplication No. 62/607,252, filed on Dec. 18, 2017, which are herebyincorporated by reference in their entireties.

BACKGROUND 1. The Field of the Disclosure

The implementations disclosed herein relate to the game of golf andpractical needs of locating the golf ball, which is not alwaysstraightforward, especially if the ball hits the long grass. In general,the implementations disclosed herein introduce the novel methods oflocating golf balls by using innovative detections principles andsystems.

2. The Relevant Technology

There are several different kinds of golf ball detectors, and each usesa unique way to find the ball. One commercially available technique isbased on an electromagnetic signal transmitted from the ball andrecorded by the processor which determines (triangulates) the locationof the ball [U.S. Pat. No. 6,634,959B2 by Eckhard H. Kuesters, U.S. Pat.No. 6,524,199B2 by Cheryl Goldman, [CN105963951A].

There are also various applications of the GPS systems, built in theball, which allow the golfer to easily locate the ball.

The ball location systems referenced above required using thespecialized balls with the preinstalled devices inside the balls. Thesedevices (transmitters) must be installed inside the balls by cutting ordrilling the ball. To make sure that the transmitter does not break whenthe golf ball is hit, the remaining space is filled with a fillingmaterial.

Another system is based on photo imaging, which can only detect whiteballs (e.g., Ballfinder Scout—Golf Ball Finding System BallfinderScout—Golf Ball Finding System:(intheholegolf.com/Merchang2/merchant.mvc?Screen=PROD&Store_Code=ITHG&Product_Code=PFSCT&utm_source=google&utm_medium=sce&utm_term=BFSCT&gclid=Cj0KCQjwoZTNBRCWARIsAOMZHmGg0oRc3bOAMAzJ1MoUZ0fH7vs1y2qHG3HCU8bF3BymfZa90sO-HMYaAss3EALw_wcB).

However, the severe limitation of this system is that the ball needs tobe at least 1% visible and within 11 meters of the device. In a case ofball hitting a long grass, it becomes invisible for the optical system.

BRIEF SUMMARY

At least one of the implementations disclosed herein provides a novelmethod of golf ball locations using an innovative physical method. Thereis a need for a system to locate accurately conventional golf balls,used by the golfers, which are not modified, cut, or drilled, and haveno additional specialized structural features required by known balldetection technologies. Furthermore, there is a need for a system toprovide golfers with the position of their golf balls hidden in the longgrass or in the bushes.

Thus, one object of at least one implementation of this disclosure is tosafely provide a system capable of giving individual golfers thelocation of their golf ball independently of the type of the ball andorigin of its manufacturing.

Another object of at least one implementation of the present disclosureis to provide a system locating golf balls which automatically producesthe visual representation of the location of the golf ball.

In at least one implementation of this disclosure, a novel technique isintroduced to make the physical characteristic of the ball differentfrom the surrounding environment without physical or mechanicalmodification of the ball. This novel technique may include changing thetemperature of the ball before its use by the golfers. At least oneadvantage of this approach is that it does not require using aspecialized ball and/or can be used with any commercially available golfballs.

In one implementation of this disclosure, the proposed system uses athermal imaging camera with imaging processing unit which is computerprogram to find the ball. To make the ball detectable by the thermalimaging camera, the golfer would induce a thermal contrast in the golfball relative to the surroundings (e.g., by putting it in the iceholder, like beer cooler, by applying heat with a convective and/orconductive heater). A thermal imaging camera will detect the ball eventhrough a thin cover (leaves, grass). Standard golf balls could be used.The imaging processing unit may produce a visual display of the locationof the golf ball, and/or may include the location coordinates and/or aterrain display with the location identified.

In another embodiment of this disclosure, a novel technique isintroduced based on using electromagnetic radiation to image a golf ballwith the frequency low enough to penetrate organic matter such asleaves, but high enough to retain resolution on the size of the golfball. Depending on the frequency chosen, in one implementation of thisembodiment, there may be enough ambient radiation to illuminate the golfball, which would enable a passive sensor and relatively simpleinstrument design. In another implementation of this embodiment, it maybe necessary to create an active source to provide enough energy toilluminate the golf ball in the desired frequency range.

In yet another embodiment of this invention, to make the physicalcharacteristic of the ball different from the surrounding environmentand other balls and to increase the detectability of the golf ball, areflective or fluorescent material will be added to the ball's surface.This could include a material with a unique spectral signature to aid inidentification of the ball, for example, the near-infrared reflectance(NIR)—infrared reflectance (IR) spectroscopy can be used to detect thegolf balls covered marked by reflective (mirror) or fluorescent material(e.g., NIR-IR fluorescent dye). IR light should penetrate to a certainextend through grass and soil.

These and other objects and features of the present disclosure willbecome more fully apparent from the following description and appendedclaims or may be learned by the practice of the invention as set forthhereinafter.

BRIEF DESCRIPTION OF THE DRAWINGS

To further clarify the above and other advantages and features of thepresent invention, a more particular description of the invention willbe rendered by reference to specific implementations thereof which areillustrated in the appended drawings. It is appreciated that thesedrawings depict only illustrated implementations of the invention andare therefore not to be considered limiting of its scope. The inventionwill be described and explained with additional specificity and detailthrough the use of the accompanying drawings in which:

FIG. 1 illustrates an implementation of a method for golf ball detectionusing a thermal imaging camera. It presents a plot of an ambient heating(to room temperature) of the cooled golf balls.

FIG. 2 illustrates an implementation of a method for golf ball detectionusing a thermal imaging camera with imaging processing unit. It shows adetection of a cold golf ball located in lab from 10 m distance. Theblue color of the spot on cold golf ball corresponds to its relativelylower temperature (21.1° C.), which is lower than room temperature(24.5° C.).

FIG. 3 illustrates an implementation of a method for golf ball detectionusing a thermal imaging camera with imaging processing unit. It shows adetection of a cold golf ball located in Lab from 8 m distance shieldedby A4 paper. The blue color of the spot on the cold golf ball can stillbe seen even if it corresponds to just one-degree difference between thetemperature of the ball (23.3° C.) and the room temperature (24.5° C.).

FIG. 4 illustrates an implementation of a method for golf ball detectionusing a thermal imaging camera with imaging processing unit. It shows adetection of cold golf ball located in lab from 20 m distance.

FIG. 5 illustrates the detection of the golf ball marked by a reflective(mirror) or fluorescent material and illuminated by the NIR-IR source.

DETAILED DESCRIPTION

The implementations disclosed herein relate in general to location ofthe golf balls lost by golfer in, for example, the thick grass (e.g.,rough).

In one implementation of this disclosure, the golf balls may be cooledby keeping them in a portable cooler. In another implementation of thedisclosure, the golf balls may be heated by keeping them in a portableball warmer. When the golfer is ready to use the ball, he or she takesthe ball from the cooler/heater and hits it. The precooled/preheatedball has a temperature well below/above the temperature of thesurrounding environment, including ground and grass, thus providing asignificant contrast of the temperature between the ball and theground/grass.

It takes some time for the ball to warm up (or cool down) and to reachan equilibrium with the temperature of the environment. FIG. 1 presentsa plot of an ambient heating (to room temperature) of the cooled golfballs. One can see that it takes about 30 minutes for the temperature ofa standard ball to raise from a typical cooler temperature (around 12°C.) up to the room temperature (around 26° C.). Thus, during almost halfan hour, there is a temperature contrast of a few degrees C., strongenough to discriminate the ball from the surrounding environment.

As an example, FIG. 2 shows a detection of a cold golf ball located inlab from 10 m distance using a thermal imaging camera. The blue color ofthe spot on cold golf ball corresponds to its relatively lowertemperature (21.1° C.), which is lower than room temperature (24.5° C.).

The golfer may have a situation where the ball is hidden in the longgrass. This situation is imitated in the lab by shielding the ball witha standard A4 paper. FIG. 3 shows that a cold golf ball located in Labfrom 8 m distance and shielded by A4 paper can still be easily detectedeven if the difference between the temperature of the ball (23.3° C.)and the room temperature (24.5° C.) is just about one-degree C.

FIG. 4 shows a detection of cold golf ball located in lab from 20 mdistance.

In the implementations of this disclosure, the golfer uses a thermalimaging camera with imaging processing unit which is computer program tofind the ball. The digital image generated by the camera may beprocessed using a specialized image processing technique, which may beoptimized to enhance the ball location.

In another embodiment of this disclosure, electromagnetic radiation isused to image a golf ball. The frequency must be low enough to penetrateorganic matter such as leaves, but high enough to retain resolution onthe size of the golf ball. The optimal solution will likely fall in the30 GHz to 30 THz range.

Depending on the frequency chosen, there may be enough ambient radiationto illuminate the golf ball. This would enable a passive sensor andsimplify the instrument design. However, it may be necessary to createan active source to provide enough energy to illuminate the golf ball inthe desired frequency range.

To increase the detectability of the golf ball, a reflective orfluorescent material will be added. This could include a material with aunique spectral signature to aid in identification of the ball. In oneimplementation, NIR-IR spectroscopy may be used to detect the golf ballscovered either by NIR-IR dye or NIR-IR mirror. IR light should penetrateto a certain extend through grass and soil. The general scheme of theNIR-IR golf ball location system is proposed in FIG. 5.

In one implementation of this disclosure, the proposed system uses athermal imaging camera with imaging processing unit which is computerprogram to find the ball.

In another implementation of this disclosure, the proposed system uses aNIR imaging camera imaging camera with imaging processing unit which iscomputer program to find the ball.

In yet another implementation of the disclosure, the digital imageprocessing technique is based on image focusing using specialtransformation of the observed data which produces the enhanced image ofthe golf ball location.

Example 1

The following is an example of at least some of the principles of thegolf ball imaging reconstruction that is offered to assist in thepractice of the disclosure. It is not intended thereby to limit thescope of the disclosure to any particular theory of operation or to anyfield of application.

Supposing the image of the part of the golf course with the potentialball location has been obtained by the thermal vision (or NIR vision)camera, and it is denoted by M₀.

Our goal for image enhancement is to find an image M₁ close enough to M₀with small variation within target area and producing the focused imageof the ball. This image processing problem can be representedmathematically as the minimization of the following functional:P(M ₁)=∥M ₁ −M ₀∥_(L) ₂ ² +αS(M ₁)  (1)where the first term is the Euclidean distance between the originalimage M₀ and the enhanced image M₁; and the second term imposesadditional constraints such as focusing stabilizer (Zhdanov, 2015).

For example, the focusing of the image of the golf ball can be achievedby using the minimum gradient support (MGS) stabilizer:

$\begin{matrix}{{S\left( M_{1} \right)} = {\int_{\;}^{\;}{\frac{\left\lbrack {\nabla{M_{1}\left( {x,y} \right)}} \right\rbrack^{2}}{\left\lbrack {\nabla{M_{1}\left( {x,y} \right)}} \right\rbrack^{2} + e^{2}}{ds}}}} & (2)\end{matrix}$

The above functional can minimize the total area with nonzero gradientsand helps generate a sharp and focused image of the ball. The smallnumber e controls the sharpness of the image.

The MGS functional can also be expressed as pseudo-quadratic functionalas follows:

$\begin{matrix}{{\int{\frac{\left\lbrack {\bigtriangledown\;{M_{1}\left( {x,y} \right)}} \right\rbrack^{2}}{\left\lbrack {\bigtriangledown\;{M_{1}\left( {x,y} \right)}} \right\rbrack^{2} + s^{2}}{ds}}} = {{\int{\left\lbrack {{w_{e}\left( {x,y} \right)}{M_{1}\left( {x,y} \right)}} \right\rbrack^{2}{ds}}} = {{{W_{e}M_{1}}}_{L_{2}}^{2}\mspace{14mu}{where}}}} & (3) \\{{w_{e}\left( {x,y} \right)} = \frac{\bigtriangledown\;{M_{1}\left( {x,y} \right)}}{\sqrt{\left\lbrack {\bigtriangledown\;{M_{1}\left( {x,y} \right)}} \right\rbrack^{2} + e^{2}}\sqrt{{\left\lbrack {M_{1}\left( {x,y} \right)} \right\rbrack^{2} +} \in^{2}}}} & (4)\end{matrix}$

Note that, the MGS stabilizer functional in a general case is anonlinear functional of M₁, and it is not quadratic. By representing itin a pseudo quadratic form one can use the optimization techniquedeveloped for quadratic functional.

In summary, the image enhancement technique is formulated within thegeneral framework of the inverse problem solution, where the observeddata are the original thermal image M₀, and model parameters to bedetermined represent the enhanced image M₁. By applying the Tikhonovregularization approach, one can solve the image enhancement problem(Zhdanov, 2015).

In yet another implementation of the present disclosure, the digitalimage processing technique may be based on using special multinarytransformation of the observed data which produce the enhanced image ofthe golf ball location.

Example 2

The following is an example of at least some of the principles of thegolf ball imaging reconstruction that is offered to assist in thepractice of the disclosure. It is not intended thereby to limit thescope of the disclosure to any particular theory of operation or to anyfield of application. For example, the focusing of the image of the golfball can be achieved by using the multinary transformation approach. Ina general case, the brightness distribution of the recovered image isdescribed by a continuous function. In ball detection problem, thedesired image brightness is described by the binary function as follows:m _(i) ={m _(i) ⁽¹⁾=0,m _(i) ⁽²⁾=1}  (5)or by the ternary function:m _(i) ={m _(i) ⁽¹⁾=−1,m _(i) ⁽²⁾=0,m _(i) ⁽³⁾=1}  (6)

Further, we can extend the description of the brightness distributionusing the multinary function of order P, having discrete numbers ofvalues:m _(i) ={m _(i) ⁽¹⁾ ,m _(i) ⁽²⁾=0, . . . ,m _(i) ^((p))}  (7)

In above distribution, the constant value 0 is assigned to thebrightness of the image representing the ball, while all other valuesare assigned to the image of the surrounding environment.

In yet another implementation of this disclosure, the nonlineartransformation of the multinary function into the continuous function,can be described as follows. We transform our brightness distribution,ρ_(i), into a model space defined by a continuous range of multinarybrightness, {tilde over (ρ)}_(i), using a superposition of errorfunction:

$\begin{matrix}{{\overset{\sim}{\rho}}_{i} = {{E\left( \rho_{i} \right)} = {{c\;\rho_{i}} + {\frac{1}{2}{\sum\limits_{j = 1}^{p}\;\left\lbrack {1 + {{erf}\left( \frac{\rho_{i} - \rho^{(j)}}{\sqrt{2}\sigma_{j}} \right)}} \right\rbrack}}}}} & (8)\end{matrix}$where ρ={ρ_(i)}, i=1, . . . , N_(m), is the original vector of the modelparameters; {tilde over (ρ)}={{tilde over (ρ)}_(i)}, i=1, . . . , N_(m),is a new vector of the nonlinear parameters; and P is a total number ofdiscrete (multinary) values of the model parameter (brightness),ρ^((j)). The function E(ρ_(i)) is the error function; parameter σ_(j) isa standard deviation of the value ρ^((j)); and the constant c is a smallnumber to avoid singularities in the calculation of the derivatives ofthe multinary brightness.

Thus, using the above transformation (8), we can process the originalthermal image M₀, into the multinary image M₁, with the properties thatthe brighness distribution is characterized by a finite number ofdiscrete values of the brighness with the preassigned value of 0 for theball location. As a result, we produce a bright and focused image of theball location.

The present disclosure may be embodied in other specific forms withoutdeparting from its spirit or essential characteristics. The describedimplementations are to be considered in all respects only asillustrative and not restrictive. The scope of the invention is,therefore, indicated by the appended claims rather than by the foregoingdescription. All changes which come within the meaning and range ofequivalency of the claims are to be embraced within their scope.

What is claimed is:
 1. A method for locating a golf ball, the methodcomprising: changing a temperature of a golf ball from a firsttemperature to a second temperature before use; striking the temperaturechanged ball on a golf course; using a thermal imaging camera with animaging processing unit to produce a digital image of a part of the golfcourse with a potential golf ball location; and applying an imageprocessing technique to produce an enhanced image of the golf balllocation, wherein the image processing technique is based on imagefocusing using special transformation of the observed data involvingfocusing minimum gradient support (MGS) stabilizer, which minimizes thetotal area with nonzero gradients of brightness and thus generates asharp and focused image of the ball, and by using the multinarytransformation approach, wherein the brightness is described by abrightness distribution, {tilde over (ρ)}_(i), using a superposition oferror function:${\overset{˜}{\rho}}_{i} = {{E\left( \rho_{i} \right)} = {{c\rho_{i}} + {\frac{1}{2}{\sum\limits_{j = 1}^{P}\left\lbrack {1 + {{erf}\left( \frac{\rho_{i} - \rho^{(j)}}{\sqrt{2}\sigma_{j}} \right)}} \right\rbrack}}}}$where ρ={ρ_(i)},i=1, . . . , N_(m), is an original vector of modelparameters, {tilde over (ρ)}={{tilde over (ρ)}_(i)},i=1, . . . , N_(m),is a new vector of the nonlinear parameters, and P is a total number ofdiscrete (multinary) values of the brightness, ρ^((j)), functionE(ρ_(i)) is an error function, parameter σ_(j) is a standard deviationof the value ρ^((j)), and constant c is a small number to avoidsingularities in calculation of derivatives of multinary brightness. 2.A method according to claim 1, wherein a difference between the firsttemperature and the second temperature is more than one degree Celsius.3. A method according to claim 1, wherein the image processing techniqueis based on the multinary transformation approach, which processes theoriginal image into the multinary image with the properties that thebrightness distribution is characterized by a finite number of discretevalues of the brightness with the preassigned value of 0 for the balllocation to produce a bright and focused image of the ball location. 4.A method according to claim 1, wherein changing the temperature of theball before its use by the golfer further comprises cooling the golfball.
 5. A method according to claim 1, wherein changing the temperatureof the ball before its use by the golfer further comprises heating thegolf ball.
 6. A non-transitory computer readable medium havinginstructions thereon that are executable to apply the image processingtechnique of claim 1 to produce an enhanced image of the golf balllocation.
 7. A thermal imaging camera for locating a golf ball, thethermal imaging camera comprising: a processor; an image processingunit; and memory having instructions executable to: produce a digitalimage of a part of a golf course with a potential golf ball location;and apply the image processing technique of claim 1 to produce anenhanced image of the golf ball location.
 8. A method according to claim1, wherein the image processing minimizes the total area with nonzerogradients of the brightness using the following equation:${S\left( M_{1} \right)} = {\int{\frac{\left\lbrack {\nabla{M_{1}\left( {x,y} \right)}} \right\rbrack^{2}}{\left\lbrack {\nabla{M_{1}\left( {x,y} \right)}} \right\rbrack^{2} + e^{2}}ds}}$where M₁ is an enhanced image and e controls the sharpness of the image.9. A non-transitory computer readable media including instructionsstored thereon that are executable to: obtain a digital image of thepart of the golf course with a potential golf ball location; and applyan image processing technique to produce an enhanced image of a golfball location, wherein the image processing technique is based on imagefocusing using special transformation of the observed data involvingfocusing minimum gradient support (MGS) stabilizer, which minimizes thetotal area with nonzero gradients of brightness and thus generates asharp and focused image of the ball, and by using the multinarytransformation approach, wherein the brightness is described by abrightness distribution, {tilde over (ρ)}_(i), using a superposition oferror function:${\overset{˜}{\rho}}_{i} = {{E\left( \rho_{i} \right)} = {{c\rho_{i}} + {\frac{1}{2}{\sum\limits_{j = 1}^{P}\left\lbrack {1 + {{erf}\left( \frac{\rho_{i} - \rho^{(j)}}{\sqrt{2}\sigma_{j}} \right)}} \right\rbrack}}}}$where ρ={{tilde over (ρ)}_(i)}, i=1, . . . , N_(m), is an originalvector of model parameters, {tilde over (ρ)}={{tilde over (ρ)}_(i)},i=1, . . . , N_(m), is a new vector of the nonlinear parameters, and Pis a total number of discrete (multinary) values of the brightness,ρ^((j)), function E(ρ_(i)) is an error function, parameter σ_(j) is astandard deviation of the value ρ^((j)), and constant c is a smallnumber to avoid singularities in calculation of derivatives of multinarybrightness.
 10. A non-transitory computer readable media according toclaim 9, wherein the image processing technique includes receivingthermal information.
 11. A non-transitory computer readable mediaaccording to claim 9, wherein the image processing technique includesreceiving NIR information.